WO2004099827A2 - Gimbal assembly for optical imaging system - Google Patents
Gimbal assembly for optical imaging system Download PDFInfo
- Publication number
- WO2004099827A2 WO2004099827A2 PCT/US2004/013582 US2004013582W WO2004099827A2 WO 2004099827 A2 WO2004099827 A2 WO 2004099827A2 US 2004013582 W US2004013582 W US 2004013582W WO 2004099827 A2 WO2004099827 A2 WO 2004099827A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- rotation
- optical
- reflector
- axis
- gimbal
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/18—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors
- G02B7/182—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for mirrors
- G02B7/1822—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for mirrors comprising means for aligning the optical axis
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G3/00—Aiming or laying means
- F41G3/22—Aiming or laying means for vehicle-borne armament, e.g. on aircraft
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
- G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
- G02B26/0816—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light by means of one or more reflecting elements
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/64—Imaging systems using optical elements for stabilisation of the lateral and angular position of the image
- G02B27/644—Imaging systems using optical elements for stabilisation of the lateral and angular position of the image compensating for large deviations, e.g. maintaining a fixed line of sight while a vehicle on which the system is mounted changes course
Definitions
- the invention relates to a gimbal assembly for an optical imaging system.
- Optical imaging systems can be mounted externally to an aircraft for detection and targeting, and can include a structure, such as an optical bed, with associated gimbal drive assemblies. Laser systems with output of the desired wavelength can be used as the illumination or designation source. Some current imaging systems locate most or all of the optical components within the optical bed, and mount the optical bed on a two axis gimbal, so the entire optical bed is movable.
- An example of an imaging system for a tracked vehicle which includes both a laser transmitter and a laser receiver mounted to a gimballed support is found in U.S. Patent No.
- Patent No. 5,936,771 (Cooper), are examples of imaging systems which are contained within a spherical housing which rotates on a gimbal base.
- An optical gimbal apparatus has a housing having a first reflector fixed with respect to the housing and having an aperture for transmission or reception of optical energy, and a gimbal having a second reflector arranged along an axis of rotation of the gimbal assembly arranged to rotate the second reflector about the axis of rotation.
- the second reflector is angled with respect to the axis of rotation and establishing an optical path along the axis of rotation. Additional lenses can be arranged between the first reflector and the second reflector, and between the first reflector and the aperture.
- FIG. 1 illustrates a cut away view of an exemplary embodiment of an optical system.
- FIG. 2 is perspective view of the exemplary FIG. 1 optical system.
- FIG. 3 is a perspective cut away view of the exemplary FIG. 1 optical system.
- FIG. 4 is an exploded view of the exemplary FIG. 1 optical system in combination with other optical components.
- FIG. 5 is a side view of the exemplary FIG. 1 optical system in combination with other optical components in a mounted position.
- FIG. 1 illustrates an exemplary embodiment of the present invention as an optical system.
- the optical system is an optical gimbal apparatus 100 suitable for receiving optical energy from the environment and for transmitting the received energy to a further optical device for processing.
- the apparatus 100 can also transmit optical energy, such as, for example, laser energy, from the further device to the environment.
- the further device can be, for example, an optical receiver or a laser generator.
- a reflector 122 is stationary with respect to a housing 120.
- the reflector 122 can be any type of material suitable to reflect optical energy at the desired wavelengths, and in an exemplary embodiment, can have a planar reflective surface 123 which is reflective of a desired optical wavelength.
- the reflector 122 can be fixed to the housing 120, can be integral with the housing 120, and/or be arranged at least partially within the housing 120.
- the housing 120 also includes an aperture 124 through which optical energy can pass between the reflector 122 and an exterior of the housing.
- the housing is adjacent to another optical component, and the aperture 124 is in an optical path between the reflector 122 and an external optical device, for example, a laser or a receiver.
- a gimbal 130 is a rotatable assembly arranged for rotation about an axis of rotation 140, with the axis of rotation intersecting the reflector 122.
- the housing 120 is stationary with respect to the axis of rotation 140.
- the terms gimbal 130 and elevation gimbal 130 are used interchangeably.
- the apparatus 100 can be used in a more complex optical system for mounting on a vehicle such as an aircraft, and which includes a second gimbal assembly which rotates the elevation gimbal around an axis perpendicular to the axis of rotation of the elevation gimbal.
- Such an apparatus is discussed in copending U.S. application Serial No. 10/263,660, filed October 4, 2002, the entire disclosure of which is incorporated herein by reference.
- the gimbal 130 can be used in any number of configurations and is not limited to use in such an optical system.
- the reflector 122 is arranged to reflect or "fold" incident optical energy received through the aperture 124 along the axis of rotation 140. Similarly, optical energy transmitted along the axis of rotation 140 toward the reflector 122 will be reflected or "folded" toward the aperture 124.
- a driver 132 can be arranged for rotating the optical gimbal 130 about the axis of rotation 140. The driver 132 can be any device suitable for rotating the optical components about an axis 120, including, but not limited to, a torque motor 134. As illustrated in FIG.
- the torque motor 134 can include both a stator 144 and a rotor 142.
- the stator 144 is at least partially arranged within the housing 120, and is stationary with respect to the housing.
- a resolver 136 can also be included to provide feedback, for example, of the speed and position of the assembly 130, to the torque motor 134.
- the rotor 142 is fixed to the optical gimbal assembly 130, and can be positioned against an inner peripheral surface 146 of the stator 144.
- Bearings 152, 154, 156, and 158 can be arranged between the rotor 142 and the housing 120, and between the resolver 136 and the optical gimbal assembly 130, for alignment and to allow movement of the optical gimbal assembly 130.
- the optical gimbal assembly 130 also includes a reflector 138, which is arranged at the axis of rotation 140 so that its generally planar reflective surface 139 intersects the axis of rotation 140. A path is formed between the reflective surfaces 139 and 123.
- the reflector 138 rotates with the gimbal 130 around the axis of rotation 140, while the reflector 122 remains stationary with respect to the axis of rotation 140.
- Both the reflective surface 139 and the reflective surface 123 are positioned at an angle with respect to the axis of rotation 140. The angles between the reflective surface 123 and the axis 140 and the reflective surface 139 and the axis can be the same or different.
- At least one lens element can advantageously be arranged between the reflector 122 and the reflector 138 so that light transmitted along the axis of rotation will pass through the lens element.
- a first lens 176 and a second lens 178 are arranged in the gimbal 130 to rotate with the gimbal 130 around the axis of rotation.
- the second lens 178 is arranged between the first lens 176 and the reflector 122.
- the first lens 176 and the second lens 178 are afocal lenses.
- the reflector 138 is located very close to the lens element 176. The arrangement of the first and second lenses 176 and 178 between the reflectors 122 and 138 can allow the reflectors to be arranged more closely together than otherwise possible, which can reduce the height H and length L of the apparatus 100.
- the first lens 176 is an objective lens.
- the first lens 176 and the second lens 178, or either of them can have a prescription.
- the first lens 176 and the second lens 178 can be arranged at least partially within the torque motor rotor 142.
- the first lens and the second lens can be affixed within an inner diameter of the torque motor rotor 142.
- two lenses 176 and 178 are illustrated in FIG. 1 and 3, greater or fewer lenses may also be used.
- the gimbal 130 is generally cylindrical in shape, and the reflective surface 139 of the reflector 138 is generally elliptical in shape.
- an aperture 160 in a side surface of the gimbal 130 is generally aligned with the reflector 138.
- the aperture 160 rotates with the gimbal 130 and the reflector 138.
- Optical radiation 162 received from the environment through the aperture 160 will be reflected by the reflector 138 in a direction along the axis of rotation 140 toward the reflector 122.
- optical radiation 164 which travels from the reflector 122 along the axis of rotation 140 toward the reflector 138 is reflected by the reflector 138 toward the aperture 160 so the reflected optical radiation 164 can travel through the aperture 160 to the environment external to the apparatus 100.
- the aperture 160 can be generally circular in shape, or can be any shape suitable to allow optical radiation to pass between the environment and the reflective surface 139.
- the aperture 160 can be an opening in the surface of the gimbal 130, and can, if desired, include a covering formed of material which is transmissive of optical energy.
- the gimbal 130 can rotate 360° around the axis of rotation 140.
- the gimbal 130 rotates a smaller angle around the axis of rotation 140. It is preferred that the gimbal 130 rotates a sufficiently large angle around the axis of rotation 140 so that the aperture 160 will be turned toward a large portion of the environment intended to be optically scanned, thus providing a large field of regard.
- an optical path is formed between the environment external to the aperture 160 and the aperture 124 in the housing 120.
- Optical radiation 162 received from the environment enters the gimbal through the aperture 160 and is incident on the reflective surface 139.
- the reflective surface 139 reflects the optical radiation 164 toward the reflective surface 123 of the reflector 122.
- the reflective surface 123 then reflects the optical radiation in a direction toward the aperture 124.
- optical radiation can be directed through the aperture 124 to the reflective surface 123, and the reflected optical radiation is then reflected along the axis of rotation 140 toward the reflective surface 139, where it is reflected toward and through the aperture 160.
- the optical radiation 166 which travels through the aperture 160 to the environment sweeps across an arc formed by the rotation of the gimbal 130.
- the rotation of the gimbal 130 allows the apparatus 100 to receive optical radiation from different directions along the arc as the reflector 138 rotates with the gimbal 130 about the axis 140.
- the laser energy can be scanned across the environment through at least 180°.
- the optical system when the optical system is receiving optical energy from the environment, it can receive optical energy through at least an 180° angle.
- the housing 120 includes an additional aperture 170, generally aligned with the reflector 138 and the optical gimbal assembly's aperture 160 when the gimbal 130 is rotated to a position so the aperture 160 faces toward the aperture 170.
- a boresight module located external to the housing can calibrate the system by passing a calibrated signal along an optical path between the aperture 124, the reflective surfaces 123 and 139, and the aperture 170.
- the reflective surface 139 and 123 are angled at about 45 degrees with respect to the axis 140, although these angles may be greater or lesser, and they may be unequal to each other.
- the apparatus 100 can be used as a stand-alone system, or in an exemplary embodiment illustrated in FIGS. 4 and 5, the apparatus 100 can be a component of a larger imaging or targeting system 200.
- the system 200 is attached to the vehicle frame 220 with a hinge mechanism 222, although the system could be attached in various ways to the frame 220 or other structures of the vehicle as desired, and any suitable mounting mechanism can be used.
- the optical system 100 is part of a larger imaging or targeting system 200 which includes both a laser transceiver 202 and an azimuthal gimbal assembly 204.
- the azimuthal gimbal assembly 204 rotates the optical system's line of sight 210 around a z axis perpendicular to the axis of rotation 140 so the azimuthal gimbal assembly 204 and the optical system 100 together establish the field of regard in elevation and azimuth.
- the field of regard is limited only by any obscurations presented by the vehicle itself or other external obscurations.
- the optical system can have a full field of view of 360° azimuthally and 180° in elevation. Gimbals having less than 360 degrees of rotation can also be used. For example, gimbals having 180 degrees of rotation or even less will also provide a large field of regard.
- the transmitted optical energy can be, for example, laser energy which is used for laser range finding, laser spot tracking, or infrared search and track functions, among others.
- the optical system 200 can be mounted a vehicle such that the optical system 100 extends only a small distance beyond the exterior surfaces of the vehicle, if at all, so the field of regard is not obstructed by the vehicle frame. Because the optical system 100 and the azimuthal gimbal assembly 204 define a large field of regard in a system which has a low profile, any detrimental effect on the vehicle's aerodynamic performance and RF signature is minimized.
- the system 100 can extend below the vehicle frame a distance approximately equal to the diameter of the gimbal 130, or greater or lesser.
- the gimbal 130 has a diameter of only about 5 1/4 inches, and an aperture size of approximately 5 inches, thus providing both a large field of regard, maximum aperture, and a low minimum profile.
- the system 200 can also include a deroll/fast steering mirror assembly 262 positioned between the optical system 100 and the azimuthal gimbal assembly 202.
- the deroll/fast steering mirror assembly 262 can include a scanning mirror that rotates to provide a scan function for the laser, and particularly for a laser infrared search and track function.
- the deroll/fast steering mirror can also stabilize the laser beam in both the azimuthal and elevation directions to compensate for vehicle movement.
- the deroll/fast steering mirror assembly 262 can also include a derail prism (not shown) that rotates the image transmitted from the rotating components 320 to the components within the non-rotating portion 330, so the stationary optical components (e.g.
- the off-gimbal components can include a casing 212 which can advantageously house low-failure rate components, a laser transceiver 202, and a mounting interface 208.
- the azimuthal gimbal 204 can fit within a recess of the casing 212, and the casing can be shock-mounted to the mounting interface 208.
- the mounting interface 208 can be hinged to the vehicle frame, or attached by any other suitable attachment method.
- the optical system 200 can be arranged in a compartment formed by an external fairing 340, and the vehicle frame 220.
- the portion of the external fairing 340 covering the optical system can be an optical window (e.g. substantially transparent to optical energy at the operational wavelengths of the system).
- An example of a suitable material for the optical window is sapphire, which has good optical properties and high strength, although other materials which are substantially optically transparent at desired wavelengths may also be used.
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU2004237193A AU2004237193C1 (en) | 2003-05-02 | 2004-05-03 | Gimbal assembly for optical imaging system |
EP04760676A EP1622758A4 (en) | 2003-05-02 | 2004-05-03 | Gimbal assembly for optical imaging system |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/428,024 | 2003-05-02 | ||
US10/428,024 US6879447B2 (en) | 2003-05-02 | 2003-05-02 | Optical gimbal apparatus |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2004099827A2 true WO2004099827A2 (en) | 2004-11-18 |
WO2004099827A3 WO2004099827A3 (en) | 2004-12-16 |
Family
ID=33310304
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US2004/013582 WO2004099827A2 (en) | 2003-05-02 | 2004-05-03 | Gimbal assembly for optical imaging system |
Country Status (4)
Country | Link |
---|---|
US (1) | US6879447B2 (en) |
EP (1) | EP1622758A4 (en) |
AU (1) | AU2004237193C1 (en) |
WO (1) | WO2004099827A2 (en) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7671337B1 (en) | 2005-11-29 | 2010-03-02 | Lockheed Martin Corporation | System and method for pointing a laser beam |
US7307771B2 (en) * | 2006-02-01 | 2007-12-11 | Textron Systems Corporation | Gimbal with orbiting mirror |
US7760976B1 (en) | 2006-11-29 | 2010-07-20 | Lockheed Martin Corporation | Method and system for pointing a laser beam |
US7429734B1 (en) | 2006-11-29 | 2008-09-30 | Aculight Corporation | System and method for aircraft infrared countermeasures to missiles |
US9031414B1 (en) | 2007-05-14 | 2015-05-12 | Lockheed Martin Corporation | Two-color missile-signature simulation using mid-infrared test source semiconductor lasers |
US8635938B2 (en) | 2011-05-25 | 2014-01-28 | Raytheon Company | Retractable rotary turret |
US8654314B2 (en) | 2011-05-25 | 2014-02-18 | Raytheon Company | Rapidly deployable high power laser beam delivery system |
US9718561B2 (en) | 2014-09-30 | 2017-08-01 | The Boeing Company | Forward looking turret |
US9885851B2 (en) | 2016-05-19 | 2018-02-06 | Lockheed Martin Corporation | Advanced optical gimbal |
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BE794930A (en) * | 1972-02-07 | 1973-05-29 | Lansing Research Corp | OPTICAL ALIGNMENT DEVICE PROVIDING A VIRTUAL SWIVEL LASER BEAM |
US3761158A (en) * | 1972-06-16 | 1973-09-25 | Optigon Res & Dev Corp | Telescope having immersed mirror stabilizer |
US3761953A (en) * | 1972-10-24 | 1973-09-25 | Mead Corp | Ink supply system for a jet ink printer |
DE2717033C2 (en) * | 1977-04-18 | 1986-01-30 | Ernst Leitz Wetzlar Gmbh, 6330 Wetzlar | Microphotographic light measuring device |
US4386848A (en) | 1980-08-11 | 1983-06-07 | Martin Marietta Corporation | Optical target tracking and designating system |
US4413177A (en) * | 1981-11-30 | 1983-11-01 | Ford Motor Company | Optical scanning apparatus incorporating counter-rotation of primary and secondary scanning elements about a common axis by a common driving source |
DE3438544A1 (en) * | 1984-10-20 | 1986-04-24 | Bodenseewerk Geraetetech | Optical viewfinder |
IL76343A (en) | 1985-09-09 | 1989-12-15 | Israel Aircraft Ind Ltd | Optical sight turret with laser source,particularly for a helicopter |
US4867548A (en) | 1986-07-25 | 1989-09-19 | Hughes Aircraft Company | Linkage articulated pointing mirror |
US4717822A (en) | 1986-08-04 | 1988-01-05 | Hughes Aircraft Company | Rosette scanning surveillance sensor |
US6129307A (en) | 1991-09-04 | 2000-10-10 | Northrop Grumman Corporation | Stabilized optical gimbal assembly |
IL100634A (en) * | 1992-01-12 | 1996-12-05 | Israel State | Stabilized support for instruments such as forward looking infrared (FLIR) units |
US5637873A (en) * | 1995-06-07 | 1997-06-10 | The Boeing Company | Directional reflectometer for measuring optical bidirectional reflectance |
US5936771A (en) | 1997-07-31 | 1999-08-10 | Raytheon Company | Compact flir optical configuration |
US5973309A (en) | 1997-08-27 | 1999-10-26 | Trw Inc. | Target-tracking laser designation |
US6174061B1 (en) | 1998-03-31 | 2001-01-16 | Raytheon Company | Compact electro-optical sensor assembly having single aperture for multiple detectors |
US6097860A (en) * | 1998-06-05 | 2000-08-01 | Astarte Fiber Networks, Inc. | Compact optical matrix switch with fixed location fibers |
US6020955A (en) | 1998-09-14 | 2000-02-01 | Raytheon Company | System for pseudo on-gimbal, automatic line-of-sight alignment and stabilization of off-gimbal electro-optical passive and active sensors |
US6226125B1 (en) | 1999-08-19 | 2001-05-01 | Raytheon Company | Electro-optical system having a ball turret and an exterior thermal reference source |
-
2003
- 2003-05-02 US US10/428,024 patent/US6879447B2/en not_active Expired - Lifetime
-
2004
- 2004-05-03 EP EP04760676A patent/EP1622758A4/en not_active Withdrawn
- 2004-05-03 WO PCT/US2004/013582 patent/WO2004099827A2/en active Search and Examination
- 2004-05-03 AU AU2004237193A patent/AU2004237193C1/en not_active Ceased
Non-Patent Citations (1)
Title |
---|
See references of EP1622758A4 * |
Also Published As
Publication number | Publication date |
---|---|
AU2004237193A1 (en) | 2004-11-18 |
EP1622758A2 (en) | 2006-02-08 |
US20040218287A1 (en) | 2004-11-04 |
AU2004237193B2 (en) | 2011-01-06 |
EP1622758A4 (en) | 2009-10-21 |
WO2004099827A3 (en) | 2004-12-16 |
AU2004237193C1 (en) | 2011-11-24 |
US6879447B2 (en) | 2005-04-12 |
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